TravExplorer: traversabilityを考慮した3次元プランニングによる階層横断型具現化探索
TravExplorer: Cross-Floor Embodied Exploration via Traversability-Aware 3-D Planning
ゼロショット物体ナビゲーションを複数階の建物に拡張し、 traversabilityを考慮した3次元プランニングとセマンティックガイダンスを組み合わせた探索フレームワークを提案した。
詳しい要約
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著者: Han Zheng, Zhe Chen, Yudong Huang, Haoran Liu, Jinghao Wang, Ming Yang, Tong Qin
分類: cs.RO
原文アブストラクト
Zero-shot Object Navigation (ZSON) has shown promise for open-vocabulary target search in unseen environments, yet most existing systems remain tied to planar representations and single-floor assumptions. These assumptions become inadequate in real buildings, where navigation involves floors, stairs, landings, and vertically overlapping spaces. This article presents TravExplorer, a cross-floor embodied exploration framework that couples zero-shot semantic guidance with traversability-aware 3-D planning. TravExplorer maintains a unified volumetric map that distinguishes occupied structures from robot-reachable support surfaces and extracts traversable frontiers from connected support surfaces, including floors, stairs, and landings. A FOV-aware active perception strategy further resolves incomplete observations during cross-floor traversal. To reduce semantic-reasoning latency, a lightweight guidance module aligns a probabilistic instance map from online open-vocabulary segmentation with a spatial value map from fast image-to-text matching. Based on these geometric and semantic memories, a hierarchical planner performs target-aware frontier touring over object hypotheses, traversable frontiers, and stair landmarks, and generates executable cross-floor motions through foothold-guided 3-D search and vertically constrained local trajectory optimization. Experiments over 4,195 simulated episodes on HM3D and MP3D demonstrate consistent advantages over representative ObjectNav baselines. Fifty real-world trials on a Unitree Go2 further validate open-vocabulary target search across single-floor and cross-floor indoor environments without prior maps or human intervention. The code will be released at https://github.com/wuyi2121/TravExplorer.
